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Changelog.txt
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Changelog.txt
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HPIPM ChangeLog
====================================================================
Version 0.1.4-master
3-Sep-2020
dense_qp:
* update some setters/getters
* add t_lam_min flag to control min value of t and lam
dense_qcqp:
* add t_lam_min flag to control min value of t and lam
ocp_qp:
* add reduce/restore eq DOF for LHS/RHS alone
* add t_lam_min flag to control min value of t and lam
ocp_qcqp:
* add t_lam_min flag to control min value of t and lam
cond_qp:
* add condensing of LHS
part_cond_qp:
* add condensing of LHS
cond_qcqp:
* add condensing of LHS
part_cond_qcqp:
* add condensing of LHS
tree_ocp_qp:
* update to nearly all features of ocp qp
tree_ocp_qcqp:
* add tree ocp qcqp solver
Matlab/Octave interface:
* add basic interface for dense QP
====================================================================
Version 0.1.3
13-Aug-2020
cond_qp:
* add classic condensing algorithm (with diag hess flag) & optinos to select the cond alg
sim:
* resume basic ERK integrator with forward sensitivities capabilities
====================================================================
Version 0.1.2
07-Apr-2020
dense_qp:
* add mask to disregard constraints (e.g. for one sided constr, or dynamic constr removal)
* replace idxs with idxs_rev
dense_qcqp:
* add dense qcqp ipm solver built on top of dense qp ipm solver
* replace idxs with idxs_rev
ocp_qp:
* add mask to disregard constraints (e.g. for one sided constr, or dynamic constr removal)
* replace idxs with idxs_rev
* add routines to reduce/restore equality-constrained degrees-of-freedom
* add routines to get riccati matrices (e.g. control gains / feedback matrix K)
ocp_qcqp:
* add ocp qcqp ipm solver built on top of ocp qp ipm solver
* replace idxs with idxs_rev
cond_qcqp:
* add condensing for qcqp
part_cond_qcqp:
* add partial condensing for qcqp
Matlab/Octave interface:
* add option to build QP data and args reading from codegen data files
* add ocp qcqp interface with same functionality as the ocp qp one
simulink interface:
* add a simulink interface based on a basic s-function
====================================================================
Version 0.1.1
01-Oct-2019
common:
* change license to BSD-2
dense_qp:
* general renaming of routines, e.g. d_create_dense_qp_dim => d_dense_qp_dim_create
* add functionality to compute predicted solution for a new RHS and sensitivity of solution
ocp_qp:
* general renaming of routines, e.g. d_create_ocp_qp_dim => d_ocp_qp_dim_create
* add codegen functionality to export dims, qp and ipm_args as global variables in a C source file
* add functionality to compute predicted solution for a new RHS and sensitivity of solution
cond_qp:
* general renaming of routines, e.g. d_create_cond_ocp2ocp => d_part_cond_qp_ws_create
Matlab/Octave interface:
* reimplement an unified Matlab & Octave interface based on mex (and independent of the python interface)
* allow for codegen of dims, qp and ipm_args from Matlab/Octave
python interface:
* allow for codegen of dims, qp and ipm_args from python
====================================================================
Version 0.1.0
04-Jul-2019
common:
* initial release